SYSTEM TO BE APPLIED TO A UNIVERSAL LAND ROVER WITH TRACTION MEANS MOUNTED ON ARTICULATED ARMS

Abstract: The present invention relates to a system to be adapted to universal land rover vehicles enabling them to travel on any type of land; the vehicle (1) should have at least two rotative traction systems (2 and 7) mounted on the end of at least two articulated arms (3 and 8) with at least one articulation on each arm, said articulations being operated by the user preferably by hydraulic means (4 and 9) in order to allow said rotative traction systems to be placed at different positions according to the necessity imposed by the obstacles that the user wants to overcome. Said obstacles to be surmounted could be higher than the actual vehicle, according to at least one of the embodiments proposed. The rotative traction system will include in general and preferably land rover tyres but it could have any other design or auxiliary means suitable for any type of land and especially for lands with a weak consistency, even allowing the vehicle to travel on water. The power system that should be applied to at least two of the wheels could be electrical, hydraulic, mechanical or mixed, according to the environment, the object and the specific conditions under which the vehicle must operate, and according to the embodiment.

Description: DESCRIPTION SYSTEM TO BE APPLIED TO A UMIVERSAL LAND ROVER WITH TRACTION MEANS MOUNTED ON ARTICULATED ARMS The present invention relates to a system to be applied to a universal land rover. Land rovers are designed to travel over land where there are no roads or man-made structures. However, in general, they cannot overcome obstacles which are somewhat higher than the radius of the respective wheel. Even when the obstacles are sloping there is a limit for overcoming the respective angle of inclination, which varies from vehicle to vehicle according to the angle of attack, which, in general, is less than 45°. Even caterpillar vehicles have limitations with regard to angles above 60°. The present invention relates to a vehicle where a locomotion system of the same type as animal traction is combined with a conventional rotary traction system, a rotary system that does not spontaneously exist on earth without being activated by man. Thus, the object of the invention is to profit from the advantages of both systems, while reducing as much as possible the unsuitability that each system separately presents. BACKGROUND TO THE INVENTION SUBSTITUTE SHEET Some special vehicles that somehow wish to overcome the above-described unsuitability of conventional vehicles are known from prior art. Mention will be made below of references on this subject. Patent EP 074 286 A2 relates to a robot with paws, where locomotion is carried out by means of articulated movements of said paws. This system has the unsuitability of animal locomotion, i.e. it moves very slowly on easy ground or along normal roads, in particular when compared with conventional motorcars. It is important to bear in mind that with the present technique it is not possible, using mechanisms constructed by man which imitate animal locomotion, to reach the speed that it is possible to attain with most big traction animals. Inclusively, when vehicles using caterpillars frequently reach a high speed (which normally does not exceed 75 km/h), it is very often necessary to substitute the corresponding caterpillars. High speed is especially important when used in military or rescue operations. In these cases, in order to overcome the slow locomotion of a vehicle like the robot of the above invention, another type of transport will be used in order to travel more quickly from a normally inhabited place to another place which is difficult to reach with normal vehicles. If, in case of rescue, this procedure could eventually be acceptable for military operations, it would lead to extremely severe logistic limitations. On the other hand, the invention which is the object of the above-mentioned patent EP 074 286 A2 is frequently used in the field of entertainment, such as vehicles in amusement parks, etc. Patent EP 161 666 A2 relates to a vehicle with a multiplicity of wheels with the object of substituting the caterpillar system having a low specific pressure applied by each wheel to the floor, as happens with SUBSTITUTE SHEET the caterpillar system. It also comprises a combined mechanical and hydraulic system that permits the adjustment of the vehicle's height in relation to the ground. However, the corresponding inventive step only allows changes of height below 0.5 m and in any case such a system is not especially intended for overcomimg high obstacles. Patent EP 254 974 A1 relates to a vehicle with a rhombohedral configuration, i.e. the wheels are located approximately on the vertices of a lozenge instead of a rectangle. However, apart from said configuration of the wheels, which in a certain way is original, the vehicle is, in all the other aspects, totally conventional and, above all, does not have any particular capacity to surmount especially high obstacles as any other conventional vehicle would do. Patent EP n° 252 674 A2 relates to a vehicle which is adequate for travelling over uneven ground. A particular feature is the replacement of each wheel by a pair of wheels suspended from a support that can balance in relation to the vehicle's main structure, thus enabling the vehicle to adjust itself to the unevenness of the ground. With this system said vehicle can overcome obstacles clearly bigger than those of conventional vehicles although the height of the obstacles that it can surmount depends on the size of the wheels and on the corresponding support. The obstacles that can be overcome by the EP n° 252 674 A2 vehicle are, however, much lower than those which the present patent vehicle can surmount. In order to increase this possibility it will be necessary to increase the size of the wheels and/or the support system's size, with the inconvenience of increasing the vehicle's height; consequently the SUBSTITUTE SHEET height of the centre of gravity will increase as much as the height of said elements, the vehicle becoming thus extremely unstable, above all when the obstacles to surmount are very uneven at each side of the vehicle. Patent PCT n° W090/06097 relates to a 6-wheel chair with the aim of maintaining a constant wheel pressure and an unchanged lateral stability when the wheelchair passes over obstacles tending to tilt it sidewise. It therefore relates to a system which is appropriate for maintaining the vehicle's stability on uneven roads or land similar to those that any conventional land rover can overcome, but it does not have any particular capacity to surmount great unevennesses as the present vehicle does. Aim of the invention The object of the present invention is to solve and/or minimize the above-mentioned difficulties, for the following reasons: - All of the embodiments of the present invention have characteristics that allow the vehicle to move at least as fast as any other conventional vehicle corresponding to the embodiment in question, with regard to either the size or the power of the traction engine. However, it is not the invention's object to create a vehicle the main characteristic of which is its high speed, but only a vehicle running at the same speed as any other conventional land rover vehicle. For example, if we chose the basic embodiment with only one articulation on each arm, which is adequate for the transportation of goods over very rough roads, we realize that when it must travel along good roads, it can move at the SUBSTITUTE SHEET same speed as a commom lorry, which means about 120 km/h. This feature avoids the inconveniences of all caterpillar vehicles and of vehicles with systems corresponding to those mentioned in EP n° 074 286 A2 and EP n° 252 674 A2. - All the embodiments of the present patent have characteristics that enable the vehicle to move over very uneven ground between the four wheels without the risk of losing its equilibrium, provided it is conveniently manoeuvred. These unevennesses can reach several metres between each wheel and above and below the normal vehicle plane (between 1 and 3 metres according to the embodiment). It is easily understandable that none of the vehicles of patents EP n° 161 666 A2, EP n° 245 974 A1 or PCT n° W090/06097, nor the vehicles of the other patents referred to, as well as none of the conventional vehicles (even the caterpillar type ones) can surmount obstacles of such unevenness. Main use The uses of the invention are many and the conception thereof varies according to the main objective for which the vehicle is intended and the corresponding manufacturing costs. According to the special features of each embodiment, they can be more or less adapted to military, civil and scientific purposes or just to documentary purposes. Civil purposes may comprise rescues, flying accidents, fires and natural catastrophes such as earthquakes, floods, etc. SUBSTITUTE SHEET The patent vehicles are especially adapted to mountainous areas, in particular areas that until now could only be reached on foot or using animal traction, and they can also be useful in other areas with low population density and very poor land transportation means. Let us now examine these same embodiments; most of them will be described further on in more detail. The embodiment provided with arms having two articulations each is the most complex embodiment and, consequently, has higher manufacturing costs. However, it will allow the vehicle to climb up steps of ± 3 metres with unevennesses at each side of the vehicle ranging from about + 3 metres to about - 3 metres in relation to the normal vehicle plane level. The embodiment provided with arms with only one articulation each is a much more simple embodiment and consequently has smaller manufacturing costs than the preceding embodiment. It does not have the same possibilities as the preceding embodiment in the sense that it cannot surmount such high unevennesses. However, it has the capacity of surmounting unevennesses ranging between 1 and 2 metres, depending on its design, but in any case much bigger than any of the conventional vehicles; simultaneously it can travel on roads without obstacles at a very fast pace. The embodiment provided with a combined articulation system on the arms is an embodiment that is a combination of the two preceding embodiments, since the front wheels are located on a system of arms with two articulations and the two rear wheels on a system with only one articulation. It has, as all combined solutions do, some of the advantages and some of the drawbacks of the two other solutions, namely its cost lies between that of the other two embodiments and it SUBSTITUTE SHEET will be able to surmount unevennesses of medium difficulty with regard to the other two embodiments. The rhombohedral embodiment is an embodiment especially adapted for locomotion on areas with a great density of obstacles, said obstacles being so high that it is not possible to surmount them even using one of the preceding embodiments; examples of these areas are those covered either with high trees or with big rocks both simultaneously high and with short spacing. As this embodiment corresponds to a very narrow vehicle, it can pass between such very high obstacles, but simultaneously it loses transport and lifting capacity. Any of the previous embodiments can be usefully used in space exploration. In this case some special details have to be considered, such as the type of atmosphere or its absence; they may also have a remote control command. The amphibian embodiment has a special feature that can be applied to any of the preceding ones, and corresponds to a concept that enables it to move on water. The wheels, which must have a big diameter, are used simultaneously as floating elements and locomotion elements, and, for this purpose, are equipped with retractile blades or bars. The embodiment meant for paraplegic users is an embodiment based on a chair with small differences with regard to conventional chairs, but it somehow reveals some original features because the chair is equipped with a telescopic system with articulated arms preferably operated by means of a hydraulic system, this vehicle being especially designed to move upstairs and downstairs. The traction will be preferably electric with motors located near the traction wheels, which eventually have a rhombohedral arrangement. SUBSTITUTE SHEET It must also be noted that chairs equipped with electrical motors are heavier than the common ones and consequently more difficult for hand lifting. Description of the invention The present invention has traction rotary systems mounted at the end of the articulated arms thus using a process similar to the one used on backhoe machines, said rotary systems being activated by any kind of power system. In that way the vehicle can travel over any type of land, surmounting obstacles with a height similar to its actual height or in certain embodiments even bigger than its height, independently of the obstacle's slope. Obviously there are limitations to the obstacles that can be overcome, the limits thereof depending on several characteristics which are specific to each embodiment and which vary according to the vehicle's object and manufacturing costs. But in any case the obstacles that can be surmounted are much bigger than those which can be overcome by any other conventional vehicle that currently exists with dimensions similar to those of the embodiment that is now being discussed. Considering that it is basically a vehicle that moves on wheels, it can travel anywhere conventional vehicles do; inclusively it can travel over tarry roads or roads with any other type of surface, since there is no caterpillar system which normally damages road pavings. When the vehicle is intended to move over any kind of land, it will do so like any SUBSTITUTE SHEET other land rover vehicle until it detects an obstacle that cannot be normally surmounted by the vehicle's wheels. When faced with an obstacle that is difficult to overcome, the arm command system, at the end of which the wheels are mounted, will be activated and the wheels will go up or down according to the type of obstacle. The arm command system will be preferably hydraulic but it can also be electrical, mechanical or mixed, and it can also be helped by electronic means or even by a computer. Apart from overcoming big obstacles, the hydraulic system will be used in combination with a conventional vehicle suspension system. In the embodiments where the rotation speed of each wheel can be different, the orders to the individual speed command will consequently be combined with the arm lifting command. There are also other wheels operated by hydraulic jacks that help the vehicle either to go up or down, or to maintain it levelled eventaully in an automatic way. These wheels do not need to be driving wheels, but it is very important for them to have brakes. As is understandable from the claims and from what has been explained above, there are several different possible solutions for each of the previously mentioned embodiments as well as different combinations between them. The best solution varies according to the optimization that will be achieved with regard to the vehicle's performances and the corresponding manufacturing costs. As far as the more complicated embodiments are concerned, it will even be necessary to consider two operators and/or a computer-assisted system properly programmed for this purpose. SUBSTITUTE SHEET In any of the embodiments, a retractable bar or blade system installed on each of the wheel's hubs may be considered in order to increase the adherence to the ground either because the ground is too steep for the conventional traction means or because the ground has a very weak consistency as is the case of mud, sand or snow, or even if the locomotion must be carried out on water. In this case, it will be necessary that all the mechanical and/or electrical systems near the wheels be conveniently designed and have the appropriate means and processes to guarantee their tightness under the pressure which will occur when said parts are immersed. Yet in the case of locomotion on water, the arms' hydraulic system can be operated in a way that enables the wheels to go up thus allowing impulsion to act also on the vehicle's main body. Let us examine in more detail some of the multiple possible solutions and some of the combinations thereof either related to the traction systems or related to the arm articulated system. Traction System The driving system of the wheels can be electrical, mechanical, hydraulic or mixed, depending on the use of the vehicle and on its working conditions. If electric engines are used they can be mounted near the traction wheels directly or indirectly acting on said wheels' axle, or on the end of the other arm opposite the wheels. Yet in the case of an electric power system, the electric current can be produced either by a storge-battery or by an electrical generator SUBSTITUTE SHEET operated by any kind of engine or by a combination of the previous systems and processes. If the power is supplied only by a combustion engine it will be preferably installed on the main body of the vehicle, the power being transmitted to the wheels by a relatively complex kinematic chain. Arm Articulation System The arm articulation system could consist only of a system which guarantees rotation around an axle fixed to the vehicle's main body or which, besides this system, has another intermediate articulation, such that each arm comprises two parts that can articulate between them. The same type of vehicle could be equipped with only one type of articulation system on the front and rear arms, but both types of articulation system could exist simultaneously on the same vehicle. There is hardly a better system than the hydraulic one for operating the arm rotation, as it is a system that is quite technologically developed in its different applications, in general and particularly in the family of backhoe machines. In any case other systems may be used, namely the electrical converter, which converts rotary movement into linear movement. Brief Description of the Drawings For an easier understanding of the invention and of the following description, a set of drawings are annexed hereto. SUBSTITUTE SHEET Figure 1 is a perspective view of the basic embodiment with only one articulation, positioned so as to travel on roads or conventional land rover ground. Figures 2 and 3 respectively show lateral and front elevations of the embodiment of Figure 1 . Figures 4 to 6 briefly illustrate a sequence of the operations necessary to overcome a high obstacle by a vehicle, according to the embodiment of Figures 1 to 3 above. Figures 7 to 10 briefly illustrate a sequence of the operations necessary to overcome a low obstacle by a vehicle, according to the embodiment of Figures 1 to 3 above. Figure 1 1 is a side elevation of the rhombohedral embodiment. Figure 12 is a front elevation of the rhombohedral embodiment. Figure 13 is a side elevation of the embodiment with two articulations. Detailed Description of the Embodiments There are many different possible embodiments when combined with different types of engines, different types of articulation and different types of power transmission systems either to the wheels or to the articulation movements. Embodiment with only one Articulation SUBSTITUTE SHEET This is considered the basic embodiment which will be described in detail, as the other embodiments may be considered as variants of this one. The inside main body (1 ) area of the vehicle shown on pictures 2 and 3 is not reduced by the mechanisms which are specific of this type of vehicle, to which this invention relates, since most of the parts are located on the outside of the main body which will only contain the typical mechanical parts common to any land rover vehicle, such as the engine (12), gear box (13), differential gears (14, 1 5 and 16), schematically represented by dotted lines. In the present embodiment, besides said parts, also depicted on the inside area are two pairs of jacks (6 and 1 1 ) for the verticle movement of the free wheels (5 and 10). However, these parts can also be external, and in this case it is only necessary to design them in such a way that their movement does not interfere with the movement of the articulated arms. It should be understood that the vehicle can be manufactured in several different ways with the jacks in several different positions occupying more or less different internal and/or external spaces; different dimensions and special features may also be considered for special purposes, such as military purposes. However, what is important is the existence of articulated arms with traction wheels at one end. It is also possible to design the entire mechanism so that it may be adapted to any existing land rover-type vehicle by merely introducing in the latter small changes such as suppressing the original suspension system and adding a structure adequate to absorb the different reactions of the hydraulic forces. SUBSTITUTE SHEET In any case, the two pairs of wheels (2 and 7) will be preferably located on the outside of the main body (1 ) in order to facilitate the corresponding movements. These wheels (2 and 7) are mounted at the end of the articulated arms (3 and 8) and can therefore perform up and down movements. The arms (3 and 8) are articulated on the other end of the half-shafts that belong to the conventional differential gears (1 5 and 16). The steering effect can be achieved in several different ways. The most conventional way is by rotating the wheels and hubs, but it is important that there should be no connection between the pairs of wheels because if this is not the case there is no possibility of each wheel having a vertical independent movement. The steering effect can be achieved by means of electric engines acting on each wheel with convenient electric and/or electronic coordination between the movement of each pair of wheels. It is also necessary to refer that each traction system will be provided with a conventional spring (19) with means (20) that will enable the arm to reach its more upper position without the spring's opposition. This means (20) will preferably enable to vary the height of the vehicle with regard to the ground. Pictures 4, 5 and 6 relate to the operation sequence necessary in order to surmount an obstacle higher than the level plane of the vehicle. Pictures 7, 8, 9 and 10 correspond to the operation sequence necessary in order to overcome an obstacle on a lower plane. Embodiment with Rhomohedral Arrangement SUBSTITUTE SHEET If the vehicle of the invention is meant to travel over very uneven ground having simultaneously a high density of trees or any other type of very high obstacles, the basic embodiment of the vehicle represented in pictures 1 to 3, or even the embodiment of Figure 13, could have difficulties in passing between them as well as in overcoming them. The embodiment represented in pictures 1 1 and 12 has been foreseen for this type of ground, because it is very narrow (about 0.8 m) and is therefore particularly well suited to these circumstances, although its transportation and elevation performances decrease. However, it could be particularly useful for rescue operations or scientific and documentary missions. In any case, the embodiment with the rhombohedral arrangement can be wider than the one with a width of 0.8 m, with eventual advantages with regard to the mechanical design but with disadvantages as far as its capacity for overcoming obstacles is concerned. In this embodiment the wheels are mounted on the lozenge's vertices, as may be seen in pictures 1 1 and 12. On it, only the outer wheels (202 and 207), which are aligned with the longitudinal axle of the vehicle, are mounted at the ends of the articulated arms (203 and 208) actuated by the jacks (204 and 209). The side wheels (205 and 210) do not need to be provided with driving wheels for reasons of simplicity and economy, but there are also advantages if these wheels have engines and even more if these engines are independent of the main one, it being possible to decide when the corresponding engines are put into operation or not. However, it is always necessary that the four wheels should have good brakes, SUBSTITUTE SHEET because they are very important for overcoming obstacles and, in particular, for going down slopes. The brakes mounted on the side wheels will also help to solve one of the typical problems of two-wheel vehicles, which is precisley the strong braking, especially on skiddy roads. Embodiment with two Articulations The embodiment represented in Figure 13 relates to an embodiment with two articulations on each arm, at the ends of which the wheels provided with engines are mounted. This embodiment makes it possible to overcome obstacles bigger than those overcome by the vehicle represented in pictures 1 to 3; these obstacles can have an unevenness of about 3 metres on each side of the present embodiment. However, it has the inconvenience of a very complicated kinematic chain if an exclusively mechanical power transmission is intended, since a central motor to each wheel is installed on the end of the arms. In this embodiment it is preferable that the wheels should be actuated by electrical engines mounted nearer to the wheels than is possible with only a mechanical system, but in this case it is necessary to have a generator operated by a combustion engine and also electrical or electronic coordination systems between the several electrical engines, more particularly when the vehicle travels at a high speed over good roads. It is also possible to consider a combustion motor for each wheel, but then the coordination between them is even more difficult. In this embodiment, besides the two pairs of wheels (302 and 307) equipped with a motor (326 and 327) each, two pairs of articulated arms (303 SUBSTITUTE SHEET and 308), controlled by a pair of jacks (306 and 31 1 ), there are also two pairs of articulated arms (321 and 31 1 ) controlled by jacks (323 and 324), as can be seen in Figure 13. The pairs of electrical engines (326 and 327) that must act upon the wheels (302 and 307) can be mounted either at the end of the arms opposite to the wheels or on the wheel's hubs (318). In the first case the arms must have a transmission axle similar to the one described in the basic embodiment, in order that the power can reach the wheel axles. In any case the central engine (312), instead of acting upon the gear box and differential gear represented in pictures 1 to 3 by dotted lines, will actuate an electrical generator (323) (not represented) which in turn will feed the electrical engines (326 and 327) either directly or via a storage-battery system. Embodiment with Mixed Systems In view of what has been said above, it is not difficult to imagine a mixed system whereby the front wheels will be operated by the system represented in Figure 13 and the rear wheels will be operated by a system represented in pictures 1 to 3. In an embodiment with these characteristics, the engine (12) must operate, besides the gear box (15) and the differential gear (16) of the rear wheels, a generator (325) that in turn feeds the pair of electrical engines (326) connected to the front wheels. This embodiment has the inconvenience of requiring the existence of a generator, but has the advantage of presenting a solution that on the SUBSTITUTE SHEET whole is less expensive and also rather efficient if we bear in mind that in going-up as well as going-down operations the most important work and effort falls on the front system. The rear system helps, in general, to balance the vehicle and it also helps the traction effort, when it is necessary to overcome very sloped or high obstacles. Travelling on good roads or paths and consequently without obstacles, only the rear wheels will act, only being helped by the front wheels, if necessary, when the vehicle travels over land or roads with bad consistency or adherence. Obviously, the front electrical engines that act only on front wheels will be required every time that it is necessary to surmount very uneven obstacles. This embodiment is not represented in any of the drawings because it is considered unnecessary, since it will be no more than the result of joining the front half of the vehicle of Figure 13 with the rear half of the vehicle represented in Figure 2, it being eventually convenient that the rear arms be longer than those represented in Figure 2. The embodiments that have been described above have been given only by way of non-restrictive examples, so that any changes either in form or in size leading to a vehicle with the characteristics described in the annexed claims, must be understood as covered by the present patent. The present invention will only be limited by the scope and spirit of the following claims. SUBSTITUTE SHEET

Claims: CLAIMS 1 . Locomotion system for a vehicle suitable for travelling on any type of land, compromising the combination of two systems, one of them being articulated manoeuvred arms and the other a conventional turning traction system, the latter having preferably conventional wheels which are mounted on said articulated arms, thus allowing the vehicle to cross any type of land, even surmounting obstacles with a height approximate to its actual height, or in certain embodiments even higher than the vehicle and independent of obstacle inclination; it can also be equipped with a remote control for any of its movements. 2. System according to claim 1 , wherein said arms, where the traction system is mounted, have at least one articulation, which allows the arm to turn around an axle fixed to the vehicle's main body, each arm being independently operated in relation to the other arms by means of a mechanical, electrical, hydraulic or mixed system, but preferably a hydraulic system; the system of this invention can also be adapted to existing conventional vehicles of the land rover type. 3. System according to the above claims, wherein the traction system can be mounted either on arms with one articulation or two articulations, the second articulation being located between two parts of the same arm; the same vehicle can comprise either arms with one articulation or arms with two articulations. 4. System according to the above claims, wherein there is a kinematic chain along each arm in order to transmit the power to each of the traction wheels, each of the kinematic chains being mechanically connected to a central engine properly mounted on the vehicle's central body, the power being transferred to the arms by means of a SUBSTITUTE SHEE+ conventional kinematic chain, which must necessarily have self-locking differential gears allowing, when necessary, the power to be applied only to a pair of wheels or to the four wheels simultaneously according to the operator's wishes. 5. System according to the above claims, wherein there are independent engines at least at each of a pair of wheels or arms, the engines being electric, mechanic or hydraulic; simultaneously on the same vehicle, there is a conventional traction system that moves two of the wheels and a system with two engines which move independently each of the two other wheels, these ones being preferably the front ones. 6. System according to the above claim, wherein there are at least four other wheels that do not need to be driven, but must perform vertical movements, being actuated by a system, preferably hydraulic; these wheels help the vertical movements of the vehicle as well as the balance thereof. 7. System according to the above claims, wherein there are proper means mounted on the same hub of the drive wheels, in order to allow its locomotion over land with a very weak consistency, including water, this equipment comprising blades or retractile bars mechanically connected to the wheels' drive shafts, in order to act when the vehicle travels over land of such a weak consistency that locomotion is not possible even with land tyres; the hubs must be designed and conceived in a tight manner, in order to allow the vehicle's locomotion even on water. 8. System according to the above claims, wherein the wheels have a rhombohedral arrangement, it being possible to control the vehicle's SUBSTITUTE SHEET inclination by means of lateral wheels controlled preferably with the help of a hydraulic system, considering that the side wheels are the most outstanding ones with regard to the longitudinal axle of the vehicle; said hydraulic system, in any case, does the settlement of the side wheels in reference to the main body of the vehicle. 9. System according to the above claims, wherein there are at least two wheels each mounted at the end of telescopic arms, which can turn at the other end around an axle fixed to the vehicle's main body. 10. System according to the above claims, wherein at the end of at least two arms, instead of wheels, a caterpillar system is mounted; each of these caterpillars follows a more or less triangular perimeter. SUBSTITUTE SHEET

Inventors: NERY DE OLIVEIRA FERNANDO JOSE, NERY DE OLIVEIRA, FERNANDO, JOSE
Applicants: NERY DE OLIVEIRA FERNANDO JOSE, NERY DE OLIVEIRA, FERNANDO, JOSE
Application year: 1994
Main classification: B62D57
IPC codes: B62D49, B62D57, B62D61